- 1 cup (8 ounces) milk, lukewarm, 1% is fine
- 1 large egg, room temperature
- 2 teaspoons vanilla extract
- 3 1/2 cups all-purpose flour
- 4 tablespoons softened butter
- 1 teaspoon salt
- 1/3 cup granulated sugar
- 3 teaspoons rapid rise or bread machine yeast
- 3 tablespoons melted butter
- 6 tablespoons packed brown sugar
- 1 1/2 teaspoons ground cinnamon
- 1/2 to 3/4 cup finely chopped pecans, optional
- 2 tablespoons butter, melted
- 3 to 4 tablespoons very hot water (more or less, as needed)
- 1 teaspoon vanilla bean paste or vanilla extract
- 2 cups powdered sugar (more or less, as needed)
On a lightly floured surface, roll dough out into a rectangle about 10 x 20 inches.
Spread the rolled out dough with the 3 tablespoons of melted butter.
Combine the 6 tablespoons of brown sugar with 1 1/2 teaspoons of cinnamon and the chopped pecans, if using. Sprinkle evenly over the entire surface. Roll up tightly and pinch seams to seal. Cut the roll into 1-inch slices. Place the rolls, cut side down, in a greased 13x9-inch baking pan. Cover with a clean dish towel and let rise in a draft-free place for 45 minutes.
Heat oven to 350°.
Bake the cinnamon rolls from 20 to 25 minutes, until nicely browned. Remove to a rack to cool slightly.
Combine the 2 tablespoons of melted butter with 3 tablespoons of hot water and vanilla or vanilla bean paste. Stir in powdered sugar, then add a little more hot water, as needed, to make an icing you can drizzle over the rolls. If too thin, add small amounts of confectioners' sugar. Spoon over the icing over the warm rolls.
Makes 18 to 20 cinnamon rolls.